CN112466111A

CN112466111A - Vehicle running control method and device, storage medium and electronic equipment

Info

Publication number: CN112466111A
Application number: CN201910849580.4A
Authority: CN
Inventors: 杨中良; 鲁全伟; 李瑢峰; 王鹏; 张桂莲
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2021-03-09
Anticipated expiration: 2039-09-09
Also published as: CN112466111B

Abstract

The disclosure relates to the field of intelligent control of vehicles, and provides a vehicle driving control method, a vehicle driving control device, a computer readable storage medium and an electronic device, wherein the method comprises the following steps: calculating an initial driving area of a first vehicle, and acquiring a locking area set; determining an overlapping area according to the initial driving area and the locking area set; determining a target travel zone of the first vehicle from the initial travel zone and the overlap zone. The method and the device can perform regional locking according to the safe distance and the traveling distance of the vehicle, support different vehicle types to travel in the same map, and realize the maximum control of the traveling resources.

Description

Vehicle running control method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of vehicle control, and in particular, to a vehicle driving control method, a vehicle driving control device, a computer-readable storage medium, and an electronic apparatus.

Background

With the development of scientific technology, most of the existing transportation vehicles can be automatically controlled, for example, the transportation process from a storage place to a picking place is generally implemented by using an Automated Guided Vehicle (AGV), which is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, can travel along a predetermined guiding path, and has safety protection and various transfer functions.

In the running process of the existing transport tool, mainly by planning a running path and locking code points on the running path, a code point vehicle which is successfully locked can run, and after the vehicle leaves, the code point is unlocked, and at the moment, other vehicles can be locked to enter. However, due to the limitation of code points, the resources occupied by the running of vehicles of different models and different weights are the same, which causes a great deal of resource waste and also causes more traffic jam.

Therefore, it is necessary to provide a new vehicle travel control method.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

An object of the present disclosure is to provide a vehicle travel control method, a vehicle travel control apparatus, a computer-readable storage medium, and an electronic device, thereby overcoming, at least to some extent, one or more of the problems due to the limitations and disadvantages of the related art.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a vehicle travel control method including: calculating an initial driving area of a first vehicle, and acquiring a locking area set; determining an overlapping area according to the initial driving area and the locking area set; a target travel zone of the first vehicle is determined based on the initial travel zone and the overlap zone.

In some exemplary embodiments of the present disclosure, calculating an initial driving area of a first vehicle includes: acquiring the current position coordinate, the driving direction, the planned driving distance and the safe distance of the first vehicle; the initial travel area is calculated based on the current position coordinates, the travel direction, the planned travel distance, and the safe distance.

In some exemplary embodiments of the present disclosure, the current location coordinates include a first coordinate and a second coordinate; the initial driving area comprises a first boundary and a second boundary which are perpendicular to the driving direction, and a third boundary and a fourth boundary which are parallel to the driving direction, and the first boundary is perpendicularly intersected with the extension line of the driving direction; the safe distance comprises a first safe distance corresponding to the first boundary, a second safe distance corresponding to the second boundary, a third safe distance corresponding to the third boundary and a fourth safe distance corresponding to the fourth boundary; calculating an initial travel region based on the current position coordinates, the travel direction, the planned travel distance, and the safe distance, including: adding the first coordinate, the first safe distance, and the planned travel distance to determine the first boundary; adding the first coordinate and the second safe distance to determine the second boundary; adding the second coordinate and the third safe distance to determine the third boundary; the second coordinate and the fourth safe distance are added to determine the fourth boundary.

In some exemplary embodiments of the present disclosure, determining the overlap region from the initial driving region and the set of locked regions includes: and judging whether an intersection region exists between the initial driving region and the locking region according to the coordinate information corresponding to the initial driving region and the coordinate information corresponding to the locking region in the locking region set, and determining the overlapping region according to the judgment result.

In some exemplary embodiments of the present disclosure, the set of locking areas includes a first set of locking areas including boundary information in the locked vehicle travel area that is perpendicular to the travel orientation; judging whether an intersection area exists between the initial driving area and the locking area according to the coordinate information corresponding to the initial driving area and the coordinate information corresponding to the locking area in the locking area set, and determining the overlapping area according to the judgment result, wherein the judgment comprises the following steps: acquiring target boundary information with intersection with a first target region from a first locking region set, wherein the first target region is composed of a first boundary and a second boundary; acquiring a second vehicle corresponding to the target boundary information; judging whether the driving area of the second vehicle is intersected with a second target area, wherein the second target area is formed by a third boundary and a fourth boundary; if so, the intersection area between the travel area of the second vehicle and the area composed of the first target area and the second target area is taken as the overlap area.

In some exemplary embodiments of the present disclosure, the target driving region includes a fifth boundary, a sixth boundary, a seventh boundary, and an eighth boundary, the sixth boundary, the seventh boundary, and the eighth boundary corresponding to and coinciding with the second boundary, the third boundary, and the fourth boundary, respectively, one to one; determining a target travel zone for the first vehicle based on the initial travel zone and the overlap zone, comprising: a boundary in the overlap region that is parallel and close to the first boundary is taken as a fifth boundary.

In some exemplary embodiments of the present disclosure, the set of locking regions further includes a second set of locking regions including boundary information in the locked vehicle travel region parallel to the travel orientation; after determining the target travel zone of the first vehicle from the initial travel zone and the overlap zone, the method further comprises: locking the area formed by the fifth boundary and the sixth boundary in the first locking area set; locking the area formed by the seventh border and the eighth border within the second set of locking areas.

According to one aspect of the present disclosure, a vehicle travel control apparatus is provided, the apparatus including a determine initial travel area module to calculate an initial travel area of a first vehicle and obtain a set of lock areas; the overlapping area determining module is used for determining an overlapping area according to the initial driving area and the locking area set; and the target driving area determining module is used for determining a target driving area of the first vehicle according to the initial driving area and the overlapping area.

According to an aspect of the present disclosure, there is provided a computer-readable medium on which a computer program is stored, the program, when executed by a processor, implementing the vehicle travel control method as described in the above embodiments.

According to an aspect of the present disclosure, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs which, when executed by one or more processors, cause the one or more processors to implement the vehicle travel control method as described in the above embodiments.

According to the technical scheme, the vehicle running control method and device, the computer readable storage medium and the electronic device in the exemplary embodiment of the disclosure have at least the following advantages and positive effects:

according to the vehicle running control method provided by one embodiment of the disclosure, the initial running area of the vehicle is firstly calculated, then the overlapped area is determined according to the initial running area and the locked area set, and finally the target running area of the vehicle is determined according to the overlapped area. According to the vehicle running control method, on one hand, the vehicle runs in the locked target running area by calculating the target running area of the vehicle, and meanwhile, the vehicles of different vehicle types and weights occupy different running areas, so that resources are saved; on the other hand, the areas overlapped with the locked areas in the initial driving area are removed through comparison with the locked area set in the map, the driving area of the vehicle is re-planned, congestion of the vehicle in the driving process is avoided, and the driving efficiency of the vehicle is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 schematically shows a flow chart of a vehicle running control method according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a scene schematic in which a plurality of vehicles travel according to an embodiment of the present disclosure;

FIG. 3 schematically illustrates a two-dimensional coordinate system depicting a vehicle driving site in accordance with an embodiment of the present disclosure;

FIG. 4 schematically shows a flow diagram for calculating the overlap region according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a vehicle initial driving area planning diagram according to an embodiment of the present disclosure;

fig. 6 schematically shows a block diagram of a vehicle travel control apparatus according to one embodiment of the present disclosure;

FIG. 7 schematically shows a block schematic of an electronic device according to an embodiment of the disclosure;

fig. 8 schematically shows a program product schematic according to an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

In the related art in the field, the driving of the vehicle is controlled by code points on a driving path, a region where the vehicle drives is pasted with a 'landmark code' on the ground according to requirements, and in order to avoid collision of the vehicle in the driving process, the distance between the code points is larger than the range of the whole body of the vehicle. When the vehicle runs, the vehicle is locked according to the code points on the running path, the vehicle can enter the code points only if the code points are locked successfully, the code points are unlocked after the vehicle leaves, and other vehicles can be locked and enter.

However, when multiple vehicle types travel in the same map range, due to the limitation of code points, the resources occupied by the walking of the small vehicle body and the large vehicle body are the same, so that a large amount of resources are wasted, and more traffic jam can be generated. And the no-load vehicle body and the goods carrying rack vehicle body occupy the same code point when walking, and the resources occupied by walking are the same, which also causes resource waste. In addition, in a special operation scene, the vehicle is not beneficial to driving, for example, when the vehicle only needs to walk half code points for special operation in business, the processing can be only carried out according to the complete code distance due to the limitation of the code points.

In view of the problems in the related art, a vehicle travel control method is proposed in one embodiment of the present disclosure. The vehicle travel control method may be executed by the server or the terminal device. Fig. 1 shows a flow chart of a vehicle travel control method, which, as shown in fig. 1, includes at least the following steps:

step S110: calculating an initial driving area of a first vehicle, and acquiring a locking area set;

step S120: determining an overlapping area according to the initial driving area and the locking area set;

step S130: a target travel zone of the first vehicle is determined based on the initial travel zone and the overlap zone.

According to the vehicle running control method, on one hand, the vehicle runs in the locked target running area by calculating the target running area of the vehicle, and meanwhile, the vehicles of different vehicle types and weights occupy different running areas, so that resources are saved; on the other hand, the areas overlapped with the locked areas in the initial driving area are removed through comparison with the locked area set in the map, the driving area of the vehicle is re-planned, congestion of the vehicle in the driving process is avoided, and the driving efficiency of the vehicle is improved.

In order to make the technical solution of the present disclosure clearer, each step of the vehicle travel control method will be described next.

In step S110, an initial travel region of the first vehicle is calculated, and a lock region set is acquired.

In an exemplary embodiment of the present disclosure, the first vehicle may be a large vehicle, and may also be a small vehicle; the vehicle can be a heavy-load vehicle or an idle vehicle; the first vehicle can be a manned vehicle or a cargo vehicle, and the size, the space size, the weight, the model, the application and the use scene of the first vehicle are not particularly limited.

In an exemplary embodiment of the present disclosure, the current position coordinates, the travel orientation, the planned travel distance, and the safe distance of the first vehicle may be acquired, and the initial travel region may be calculated based on the acquired current position coordinates, travel orientation, planned travel distance, and safe distance. The specific implementation method comprises the following steps:

establishing a two-dimensional coordinate system on a map where the first vehicle runs, wherein the current position coordinates of the first vehicle comprise a first coordinate and a second coordinate; wherein, the first coordinate can be an X-axis coordinate or a Y-axis coordinate; the second coordinate may be an X-axis coordinate or a Y-axis coordinate.

Further, the initial driving area of the first vehicle includes a first boundary and a second boundary perpendicular to the driving direction and a third boundary and a fourth boundary parallel to the driving direction, and the first boundary perpendicularly intersects with the extension line of the driving direction; the safe distance of the first vehicle comprises a first safe distance corresponding to the first boundary, a second safe distance corresponding to the second boundary, a third safe distance corresponding to the third boundary and a fourth safe distance corresponding to the fourth boundary; the first safety distance, the second safety distance, the third safety distance and the fourth safety distance can be the same or different, and the size of the safety distance is related to the size, the space size, the weight, the model and the like of the first vehicle. Fig. 2 is a schematic view showing a plurality of vehicles traveling, as shown in fig. 2, a vehicle number 2 201 and a vehicle number 4 202 are both large heavy-duty vehicles, the vehicle number 2 is in an unloaded state, the first safety distance, the second safety distance, the third safety distance and the fourth safety distance of the vehicle number 2 are the same and are all 50CM, and the vehicle number 4 202 is in a piggyback state, the first safety distance, the second safety distance, the third safety distance and the fourth safety distance of the vehicle number 4 are the same but the safety distance is 100 CM. It can be seen that the safe distance of the vehicle is proportional to the weight of the cargo it is transporting, which is reflected in the driving area in that the weight of the cargo transported by the vehicle is proportional to the driving area of the vehicle.

Based on the above, calculating an initial travel area of the first vehicle includes: adding the first coordinate, the first safe distance, and the planned travel distance to determine a first boundary; adding the first coordinate and the second safe distance to determine a second boundary; adding the second coordinate and the third safe distance to determine a third boundary; the second coordinate and the fourth safe distance are added to determine a fourth boundary.

Next, the above calculation of the initial travel area of the first vehicle will be described in detail, and fig. 3 shows a schematic diagram illustrating a vehicle travel site in a two-dimensional coordinate system, where, as shown in fig. 3, the X-axis is the horizontal direction and the Y-axis is the vertical direction. Acquiring the current position coordinate, the driving direction, the planned driving distance and the safe distance of the first vehicle, and specifically comprising the following steps:

the X-axis coordinate of the current position of the first vehicle is startX, and the Y-axis coordinate of the current position of the first vehicle is startY; the planned driving distance is distance; the first safe distance, the second safe distance, the third safe distance and the fourth safe distance are front, back, left and right respectively.

When the driving direction of the first vehicle is X +, the coordinate values of the four sides X +, X-, Y +, Y-of the initial driving zone of the first vehicle are calculated as the boundary values of the first boundary, the second boundary, the third boundary and the fourth boundary of the initial driving zone of the first vehicle. The specific calculation method is shown in the formula (1-4):

X+＝startX+front+distance (1)

X-＝startX-behind (2)

Y+＝startY+left (3)

Y-＝startY–right (4)

when the traveling direction of the first vehicle is X-, the four sides X +, X-, Y +, Y-, of the initial traveling region of the first vehicle can be calculated according to the formula (5-8) as follows:

X+＝startX+behind (5)

X-＝startX-front-distance (6)

Y+＝startY+right (7)

Y-＝startY-left (8)

when the traveling direction of the first vehicle is Y +, four sides X +, X-, Y +, Y-of the initial traveling region of the first vehicle can be calculated according to the formula (9-12).

The formulas (9 to 12) are as follows:

X+＝startX+right (9)

X-＝startX-left (10)

Y+＝startY+front+distance (11)

Y-＝startY-behind (12)

when the traveling direction of the first vehicle is Y-, four sides X +, X-, Y +, Y-of the initial traveling zone of the first vehicle may be calculated according to the formula (13-16).

Equations (13-16) are as follows:

X+＝startX+left (13)

X-＝startX-right (14)

Y+＝startY+behind (15)

Y-＝startY-front-distance (16)

in an exemplary embodiment of the present disclosure, the set of locking regions includes a first set of locking regions including boundary information perpendicular to the running direction in the locked vehicle running region and a second set of locking regions including boundary information parallel to the running direction in the locked vehicle running region.

In step S120, an overlap region is determined from the initial travel region and the lock region set.

In an exemplary embodiment of the present disclosure, whether an intersection region exists between the initial travel region and the lock region is determined according to the coordinate information corresponding to the initial travel region and the coordinate information corresponding to the lock region in the lock region set, and an overlap region is determined according to the determination result. The coordinate information corresponding to the initial driving area comprises boundary values of four sides of the initial driving area, and the coordinate information corresponding to the locking area comprises the boundary values of the locking area. The method for calculating the overlapping area according to the initial driving area and the locking area set comprises the following two methods:

first, fig. 4 shows a flowchart of calculating the overlap region, and as shown in fig. 4, in step S410, target boundary information intersecting with a first target region is obtained from a first locked region set, where the first target region is composed of a first boundary and a second boundary; if the target boundary information intersecting the first target area exists in the first locked area set, it means that there is no area overlapping the initial travel area of the first vehicle in the locked area set, and in this case, the initial travel area of the first vehicle may be set as the target travel area of the first vehicle. In step S420, a second vehicle corresponding to the target boundary information is acquired; wherein the second vehicle may be one or more. In step S430, it is determined whether the traveling region of the second vehicle intersects with a second target region, which is constituted by a third boundary and a fourth boundary. In step S440, if any, the intersection region between the travel region of the second vehicle and the region composed of the first target region and the second target region is set as the overlap region. In step S450, if not, the initial travel area of the first vehicle is set as the target travel area of the first vehicle. According to the vehicle running control method, the second vehicle is obtained first, and then whether the second vehicle intersects with the initial running area of the first vehicle or not is judged, so that the overlapping area is calculated.

In the following, the above procedure of calculating the overlap area is further described with reference to fig. 5, fig. 5 shows a schematic diagram of a vehicle initial driving area plan, as shown in fig. 5, a vehicle 501 No. 1(X ═ 100200, X ═ 101300) and a vehicle 502 No. 3 (X ═ 100200, X ═ 100800) are locked in the first set of locking areas, a vehicle 501 No. 1(Y ═ 100750, Y ═ 100950) and a vehicle 502 No. 3 (Y +═ 100350, Y ═ 100550) are locked in the second set of locking areas, and the initial driving area of the vehicle 503 No. 4 calculated according to the above embodiment is (X + = 100950, Y ═ 101350, X ═ 100750, Y ═ 100050). Firstly, acquiring vehicles in a first locking region set, wherein the vehicles exist in a region formed by X + and X-of an initial driving region, and acquiring vehicles in a second locking region set, wherein the vehicles exist in a region formed by Y-and Y + of the initial driving region, and the acquiring results are vehicle number 1(Y + ═ 100750, Y- ═ 100950) and vehicle number 3 (Y + ═ 100350, Y- ═ 100550); then, whether an intersection region exists between the running regions of the

vehicles

501 and 502 and the initial running region of the vehicle 503 No. 4 is judged, and the intersection region exists between the running regions of the

vehicles

501 and 503 No. 1 and 4 is judged; from this intersection area and the initial travel area of vehicle No. 4 503, the target travel area of vehicle No. 4 503 is calculated. At Y + ═ 100750, there is a conflict, and therefore, the target travel region of vehicle No. 4 503 is (X + ═ 100950, Y + ═ 100750, X ═ 100750, Y ═ 100050).

Secondly, the driving areas of all the locked vehicles in the initial driving area and the locking area set of the first vehicle can be directly judged, if an intersection area exists, the intersection area is calculated, and the intersection area is used as an overlapping area; and if the intersection area does not exist, taking the initial running area of the first vehicle as the target running area of the first vehicle. Wherein the set of locking regions includes a travel region of the locked vehicle. For example, if the driving regions of the vehicle No. 1 and the vehicle No. 3 501 and the vehicle No. 3 502 in the locking region set are (X + ═ 101300, Y + ═ 100750, X ═ 100200, Y ═ 100950) and (X + ═ 100800, Y + ═ 100350, X ═ 100200, Y ═ 100550), respectively, the initial driving region of the vehicle No. 4 503 is (X + ═ 100950, Y + ═ 101350, X ═ 100750, Y ═ 100050); by the judgment, the initial driving region of the vehicle No. 4 503 intersects with the locking region of the vehicle No. 1 501, and the intersection region is (X + ═ 101000, Y + ═ 100950, X- ═ 100800, and Y- ═ 100750); therefore, the target travel region of vehicle No. 4 is (X + ═ 100950, Y + ═ 100750, X ═ 100750, and Y ═ 100050). In an embodiment of the present disclosure, determining the overlap area according to the initial driving area and the set of locking areas may also be calculated by a boundary value of the driving area, which is not specifically limited by the present disclosure.

In step S130, a target travel region of the first vehicle is determined from the initial travel region and the overlap region.

It should be noted that the target driving area includes a fifth boundary, a sixth boundary, a seventh boundary, and an eighth boundary, where the sixth boundary, the seventh boundary, and the eighth boundary correspond to and overlap the second boundary, the third boundary, and the fourth boundary, respectively.

Based on the above, in the exemplary embodiment of the present disclosure, the target travel area of the first vehicle is determined from the initial travel area and the overlap area, and the boundary in the overlap area that is parallel and close to the first boundary is taken as the fifth boundary, and the target travel area includes the fifth boundary, the sixth boundary, the seventh boundary, and the eighth boundary after replacement.

In the exemplary embodiment of the present disclosure, returning to fig. 2, as shown in fig. 2, the vehicle nos. 2 201 and 4 202 are large heavy-duty vehicles, the vehicle No. 4 202 is in a piggyback state, the vehicle No. 2 is in an empty state, and the vehicle nos. 6, 203, 9, 204, 18, 205, and 20 are small vehicles, which are in a piggyback state. When the safety range of the No. 4 heavy-load vehicle 202 is 100cm in the carrying state, and the No. 4 vehicle plans to lock the traveling region upward, it is found that there is an intersection with the traveling region of the No. 6 vehicle 203, so the No. 4 vehicle 202 can only travel to the position of Y + ═ 100800, the target traveling region of the No. 4 vehicle 202 is X + ═ 101000, Y + ═ 100950, X- ═ 100800, and Y ═ 100100. When the safety range of the No. 2 heavy-duty vehicle 201 is 50CM in the front, rear, left and right directions in the idling state and the vehicle is locked in the downward range, no intersection region is found in the locking region set, so that the vehicle can travel according to the initial travel region, and the target travel region of the No. 2 vehicle 201 is X + ═ 100250, Y + ═ 101050, X ═ 100150, and Y ═ 100100. The safety range of the 18 th small vehicle 205 in the piggyback state is 50CM, and when the vehicle upward traveling range is locked, it is found that there is an intersection with the traveling region of the 6 th vehicle 203, so the 18 th vehicle 205 can only travel to the position of Y + ═ 100850, the target traveling region of the 18 th vehicle 205 is X + ═ 101350, Y + ═ 100950, X- ═ 101250, Y- ═ 100150. The safety ranges of the front, rear, left and right of the small vehicle No. 20 206 in the piggyback state are 50CM, and when the vehicle travels upward, no intersection region is found in the lock region set, so that the small vehicle No. 20 can travel according to the initial travel region, and the target travel region of the small vehicle No. 20 206 is X + ═ 101450, Y + ═ 101250, X ═ 101350, and Y ═ 100150. The safety range of the small vehicle # 6 on the front, back, left and right in the carrying state is 50CM, and when the trolley right-traveling range is locked, the intersection with the traveling region of the vehicle # 20 206 is found, so that the vehicle # 6 203 can only travel to the position where X + is 101300, the target traveling region of the vehicle # 6 203 is X + ═ 101350, Y + ═ 101050, X ═ 100450, and Y ═ 100950. When the safety range of the small-sized vehicle 204 9 is 50CM in the carrying state, and the vehicle travels to the right, it is found that there is an intersection with the traveling region of the vehicle 202 4, so the vehicle 204 9 can only travel to the position of X + ═ 100750, the target traveling region of the vehicle 204 9 is X + ═ 100800, Y + ═ 100750, X- ═ 100250, and Y- ═ 100650.

In an exemplary embodiment of the present disclosure, after the target travel area of the first vehicle is determined according to the initial travel area and the overlap area, an area formed by the fifth boundary and the sixth boundary of the target travel area is locked within the first set of locked areas, and an area formed by the seventh boundary and the eighth boundary of the target travel area is locked within the second set of locked areas.

According to the vehicle running control method, on one hand, the vehicle can run in the locked target running area by calculating the target running area of the vehicle, and meanwhile, the vehicles of different vehicle types and weights can occupy different running areas, so that resources are saved; on the other hand, the method eliminates the places overlapped with the locked areas in the initial driving area by comparing with the locked area set in the map, replans the driving area of the vehicle, avoids the congestion of the vehicle in the driving process and improves the driving efficiency of the vehicle.

The following describes embodiments of the disclosed apparatus, which may be used to implement the vehicle travel control method described above. For details which are not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the vehicle running control method of the present disclosure.

Fig. 6 schematically shows a block diagram of a vehicle travel control apparatus according to one embodiment of the present disclosure.

Referring to fig. 6, a vehicle travel control apparatus 600 according to one embodiment of the present disclosure includes:

an initial driving area determination module 610 for calculating an initial driving area of the first vehicle and obtaining a set of locked areas;

an overlap region determining module 620, configured to determine an overlap region according to the initial driving region and the set of locking regions;

the determine target driving area module 630 determines a target driving area of the first vehicle based on the initial driving area and the overlap area.

The specific details of each of the above-described vehicle travel control devices have been described in detail in the corresponding vehicle travel control method, and therefore, the details thereof are not described herein again.

It should be noted that although in the above detailed description several modules or units of the apparatus for performing are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

An electronic device 7000 according to this embodiment of the invention is described below with reference to fig. 7. The electronic device 700 shown in fig. 7 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 7, electronic device 700 is embodied in the form of a general purpose computing device. The components of the electronic device 700 may include, but are not limited to: the at least one processing unit 710, the at least one memory unit 720, a bus 730 connecting different system components (including the memory unit 720 and the processing unit 710), and a display unit 740.

Where the memory unit stores program code, which may be executed by the processing unit 710, to cause the processing unit 710 to perform the steps according to various exemplary embodiments of the present invention as described in the above-mentioned "exemplary methods" section of this specification. For example, the processing unit 710 may perform step S110 as shown in fig. 1, calculate an initial travel region of the first vehicle, and acquire a set of lock regions; step S120, determining an overlapping area according to the initial driving area and the locking area set; in step S130, a target travel region of the first vehicle is determined according to the initial travel region and the overlap region.

The storage unit 720 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)7201 and/or a cache memory unit 7202, and may further include a read only memory unit (ROM) 7203.

The storage unit 720 may also include a program/utility 7204 having a set (at least one) of program modules 7205, such program modules 7205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 730 may be any representation of one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 700 may also communicate with one or more external devices 900 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a viewer to interact with the electronic device 700, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 700 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 750. Also, the electronic device 700 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 760. As shown, the network adapter 760 communicates with the other modules of the electronic device 700 via the bus 730. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above-mentioned "exemplary methods" section of the present description, when the program product is run on the terminal device.

Referring to fig. 8, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.

Claims

1. A vehicle travel control method characterized by comprising:

calculating an initial driving area of a first vehicle, and acquiring a locking area set;

determining an overlapping area according to the initial driving area and the locking area set;

determining a target travel zone of the first vehicle from the initial travel zone and the overlap zone.

2. The vehicle travel control method according to claim 1, wherein calculating an initial travel region of the first vehicle includes:

acquiring the current position coordinate, the driving direction, the planned driving distance and the safe distance of the first vehicle;

and calculating the initial driving area according to the current position coordinate, the driving direction, the planned driving distance and the safe distance.

3. The vehicle travel control method according to claim 2, wherein the current position coordinates include a first coordinate and a second coordinate; the initial driving area comprises a first boundary and a second boundary which are perpendicular to the driving direction, and a third boundary and a fourth boundary which are parallel to the driving direction, and the first boundary is perpendicularly intersected with the extension line of the driving direction; the safe distances include a first safe distance corresponding to the first boundary, a second safe distance corresponding to the second boundary, a third safe distance corresponding to the third boundary, and a fourth safe distance corresponding to the fourth boundary;

calculating the initial driving area according to the current position coordinate, the driving direction, the planned driving distance and the safe distance, wherein the calculation comprises the following steps:

adding the first coordinate, the first safe distance, and the planned travel distance to determine the first boundary;

adding the first coordinate and the second safe distance to determine the second boundary;

adding the second coordinate and the third safe distance to determine the third boundary;

adding the second coordinate and the fourth safe distance to determine the fourth boundary.

4. The vehicle travel control method according to claim 3, characterized in that: determining an overlap region from the initial travel region and the set of locked regions, comprising:

and judging whether the intersection area exists between the initial driving area and the locking area according to the coordinate information corresponding to the initial driving area and the coordinate information corresponding to the locking area in the locking area set, and determining the overlapping area according to the judgment result.

5. The vehicle travel control method according to claim 4, characterized in that: the set of locking regions includes a first set of locking regions including boundary information in a locked vehicle travel region that is perpendicular to the travel orientation;

judging whether an intersection region exists between the initial driving region and the locking region according to the coordinate information corresponding to the initial driving region and the coordinate information corresponding to the locking region in the locking region set, and determining the overlapping region according to the judgment result, wherein the judgment comprises the following steps:

acquiring target boundary information with intersection with a first target region from the first locking region set, wherein the first target region is composed of the first boundary and the second boundary;

acquiring a second vehicle corresponding to the target boundary information;

judging whether a driving area of the second vehicle is intersected with a second target area, wherein the second target area is formed by the third boundary and the fourth boundary;

and if so, taking the intersection area between the driving area of the second vehicle and the area consisting of the first target area and the second target area as the overlapping area.

6. The vehicle travel control method according to claim 4 or 5, characterized in that: the target driving area comprises a fifth boundary, a sixth boundary, a seventh boundary and an eighth boundary, and the sixth boundary, the seventh boundary and the eighth boundary are respectively in one-to-one correspondence with and coincide with the second boundary, the third boundary and the fourth boundary;

determining a target travel zone of the first vehicle from the initial travel zone and the overlap zone, comprising:

a boundary in the overlapping area that is parallel and close to the first boundary is taken as the fifth boundary.

7. The vehicle travel control method according to claim 1, characterized in that: the set of locking regions further comprises a second set of locking regions comprising boundary information in a locked vehicle driving region parallel to the driving orientation;

after determining the target travel zone of the first vehicle from the initial travel zone and the overlap zone, the method further comprises:

locking regions formed by the fifth and sixth boundaries within the first set of locking regions;

locking regions formed by the seventh and eighth boundaries within the second set of locking regions.

8. A vehicle travel control apparatus characterized by comprising:

the system comprises an initial driving area determining module, a locking area setting module and a locking area setting module, wherein the initial driving area determining module is used for calculating an initial driving area of a first vehicle and acquiring a locking area set;

an overlap region determining module, configured to determine an overlap region according to the initial driving region and the locking region set;

a determine target travel zone module to determine a target travel zone of the first vehicle based on the initial travel zone and the overlap zone.

9. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a vehicle travel control method according to any one of claims 1 to 7.

10. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to execute the vehicle travel control method of any one of claims 1-7 via execution of the executable instructions.